Method of improving pedicle screw placement in spinal surgery

ABSTRACT

A method of determining the size and trajectory of screws in pedicles during surgery, comprising generating a three-dimensional image of the bony spine; hollowing out the vertebra in the image with cortical wall thicknesses selected by a surgeon; determining the isthmus within each pedicle; generating a straight line starting at the center of the isthmus and extending in opposite directions so that it is positioned concentrically within the pedicle without touching the walls thereof, the line terminating inside the vertebral body a predetermined distance from the anterior inner cortical wall and extending outwardly in the opposite direction to penetrate the posterior pedicle cortex; expanding the line concentrically and radially to a cross sectional size that is less than that of the isthmus, the line being expanded into a cylinder that stops growing when any portion thereof contacts the inner cortical wall of the hollowed out vertebral body; and calculating pedicle screw size and trajectory based on the cylinder.

This application claims the benefit of U.S. Provisional Patent Application No. 60/545,903, filed on Feb. 20, 2004.

FIELD OF THE INVENTION

The present invention relates to the general field of spinal surgery and, more particularly, to a computerized or automated method for the accurate sizing and placement of pedicle screws in spinal surgery.

BACKGROUND OF THE INVENTION

Placement of screws into the human spine is a common surgical procedure to allow for a multitude of spinal surgeries to be performed. Screws are typically placed into the pedicles of individual vertebra in the lumbar and sacral spine. Given their biomechanical advantages over other modes of fixation, surgeons are expanding the areas of the spine in which pedicle screws are placed. However, adjacent to the spine are numerous vital structures and organs, in particular the cervical and thoracic spine regions, which have very low tolerance for surgically created injuries that may ultimately lead to significant morbidity and/or mortality. For this reason the majority of research focus on placement of pedicle screws is centered on improving accuracy to maintain a screw within a bony (intraosseous) environment.

Image guided systems are evolving which are increasingly user friendly to assist a surgeon in accurately placing a screw. The critical parameters for placing a pedicle screw into the human spine are diameter, length, trajectory and then actual placement of the screw. To date many of the image guidance systems allow for manual determination of these parameters to improve a surgeon's manual performance in screw placement. Up to the present time, no system is available which will automatically determine ideal pedicle screw diameter, length and trajectory for accurate placement of pedicle screws. The present invention provides this capability akin to a pilot who flies an airplane with computer controlled aviation capabilities, and allows for placement of pedicle screws using either an open or percutaneous technique.

Patent Application Publication No. U.S. 2004/0240715 A1, published on Dec. 2, 2004, relates to methods and computer systems for determining the placement of pedicle screws in spinal surgery. It discloses a method wherein the minimum pedicle diameter is first established for determining the optimum screw trajectory and then the maximum screw diameter and length using the optimum trajectory for each pedicle. Two dimensional transverse slice data is stacked to form three dimensional data points to determine optimum trajectory by linear least squares solution to fit the data, requiring the solution to go through the overall minimum transverse pedicle widths. A disadvantage of this method is that it allows for eccentric trajectory determination, particularly for distorted pedicle anatomy, with consequent smaller maximum diameter and length screw determinations resulting in biomechanically inferior constructions. In contrast, the new and improved method of the present invention always places the trajectory concentrically through the pedicle by the determination of optimum trajectory by using the center point of the smallest cross sectional area (isthmus) and projecting with a computer a line normal to this circumscribed area in opposite directions, as described more particularly hereinafter. The new and improved methods of the present invention allow for maximum screw diameter and length determinations for intraosseous placement.

SUMMARY OF THE INVENTION

The present invention utilizes three dimensional images and a computer or similar device to generate a table providing the maximum allowable pedicle screw diameter and length, summary data on trajectory, and also generates a schematic diagram illustrating this data for individual vertebral pedicles. The numerical data can be utilized by the surgeon for actual intraosseous pedicle screw placement by one of the following methods: 1. Manual screw placement by the surgeon's preferred method; 2. A pedicle base circumference outline method combined with intraoperative fluoroscopy; 3. Automated screw placement; or 4. Any commercially available registration software (e.g., computed tomography/fluoroscopy, etc.)

The present invention also allows for extraosseous or extrapedicular pedicle screw placement if a surgeon should so desire based on a trajectory beginning at the same starting point from the anterior cortex but angled tangentially any distance or angle to the surgeon's desired preference.

The invention also facilitates safe and reliable access to any vertebral body through a transpedicular or peripedicular approach, such as during a vertebroplasty, kyphoplasty or vertebral body biopsy.

Furthermore, the invention forms a novel research tool for developing smaller or larger diameter or custom sized pedicle screws throughout the spine.

One method of the present invention generally comprises the following steps:

1. A computed tomography scan (CT), magnetic resonance image (MRI), CT capable fluoroscopy or similar two dimensional imaging study of the spine area of interest may first be obtained.

2. A dimensionally true three dimensional computer image of the bony spine is generated from the CT, MRI or other studies, or in any other suitable manner.

3. The computer generated three dimensional individual vertebra are then hollowed out by a computer or other device similar to an eggshell transpedicular vertebral corpectomy to the specifications desired by the surgeon, e.g., thickness of cortical wall remaining in the vertebral body cortices or pedicle walls. The individual vertebra can be visualized as a structure which has been cored or hollowed out and the resulting remaining vertebral body is “electrified” or highlighted throughout its walls.

4. A computer then automatically determines the maximum allowable diameter screw to be placed by determining the narrowest diameter or smallest cross sectional area (isthmus) within any given pedicle based on surgeon pedicle cortical wall diameter preferences.

5. A computer then generates an elongated cylinder by starting at the center of the isthmus as a straight line which determines the ideal trajectory and extends in opposite directions e.g., perpendicular to the plane of the isthmus so that it is positioned concentrically as much as possible within the pedicle without touching the remaining “electrified” or highlighted cortex. This line is allowed to penetrate the dorsal or posterior pedicle cortex so that it can extend beyond the skin of a patient to any desired length. The line terminates inside the vertebral body to within a surgeon's predetermined distance from the predefined anterior inner cortical wall so that it cannot penetrate it.

6. A computer then builds the line concentrically in radial directions to a final maximum diameter which will not exceed the narrowest defined pedicle diameter based on surgeon preference pedicle cortical wall thickness. This concentric building grows into a visible cylinder which stops building when any point on its outer surface comes into “contact” with the “electrified” or highlighted inner cortical wall. This rule, however, does not apply to the posterior cortex adjacent to the exiting straight trajectory line generated from the isthmus.

7. A computer then determines the length of the screw by measuring the length of the cylinder starting at the predefined anterior inner cortex up to its intersection with the dorsal/posterior cortex. To facilitate the placement of screws in accordance with one of the automated methods described hereinafter, the cylinder may be extended beyond its intersection with the dorsal/posterior cortex.

8. A computer then provides a data summary table which displays the ideal pedicle screw diameter, length and trajectory for each individual vertebra pedicle and an idealized schematic drawing of same.

9. The tabulated data can then be utilized to determine the viability of using pedicle screws based on maximal pedicle screw diameter and length, and also for placement of screws by a surgeon's preferred method, such as one of the methods described hereinafter.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1 a and 1 b are three dimensional computer images of the side and back, respectively, of the bony spine made from CT, MRI or other studies of the spine area of interest;

FIG. 2 illustrates three dimensional computer images of individual vertebra undergoing a manual eggshell corpectomy from the spine area shown in FIGS. 1 a and 1 b;

FIG. 3 is a computer image of a hollowed out individual vertebra showing the narrowest diameter or cross sectional area (isthmus) within the pedicle;

FIG. 4 is a computer image view of a hollowed out individual vertebra showing the generation of the straight line through the center of the isthmus and extending in opposite directions through the posterior pedicle cortex and toward the anterior inner cortex;

FIG. 5 is a schematic drawing showing the generation of the cylinder by building the line extending through the center of the isthmus concentrically in radial directions;

FIGS. 6 a and 6 b are schematic images of hollowed out individual vertebra that are of symmetrical and irregular shape, respectively;

FIGS. 7 a and 7 b are schematic views showing the isthmus of straight and curved pedicles, respectively;

FIG. 8 is a schematic view of a hollowed out vertebra showing the length of the cylinder for determining pedicle screw length;

FIG. 9 is a schematic side elevational view of the individual vertebra labeled by a surgeon for pedicle screw installation;

FIG. 10 a is a data summary table generated by a computer of maximum pedicle screw diameter and length, and also of the trajectory angle of the pedicle screw with respect to the sagittal and transverse planes;

FIG. 10 b is a schematic side view of a vertebra showing the sagittal plane and the nature of the trajectory angles in FIG. 10 a; and

FIG. 10 c is a schematic plan view of a vertebra showing the transverse plane and the nature of the trajectory angles in FIG. 10 a;

FIG. 10 d is a schematic rear view of a vertebra showing the coronal plane and the nature of the trajectory angles in FIG. 10 a;

FIG. 11 is a computer generated schematic view of the ideal pedicle screw placements as identified in the data summary table of FIG. 10 a in AP plane demonstrating coronal trajectory;

FIG. 12 is a table of maximum available screw size parameters corresponding to the data in the summary table of FIG. 10 a and pedicle base circumference oulines (coronal planes) and pedicle distance points A–B;

FIG. 13 is a computer generated schematic view of the screw placements as identified in the table of FIG. 12;

FIG. 14 a is a schematic side elevational view of a vertebra showing the isthmus and the pedicle base circumference;

FIG. 14 b is a schematic plan view of a vertebra showing the computer generated pedicle cylinder extending through the pedicle base circumference in the transverse and coronal planes;

FIGS. 14 c, 14 d and 14 e are plan views of vertebra in the lumbar, thoracic and cervical regions, respectively, showing the relationship between the isthmus and the pedicle base circumference in each vertebra;

FIGS. 14 f and 14 g are schematic rear elevational views of a vertebra showing the positioning of an awl for creating the pedicle screw pilot hole in the vertebra;

FIG. 14 h shows schematic and aligned plan and rear elevational views of a vertebra with a manually determined pedicle screw directional line extending through the center of the pedicle base circumference;

FIGS. 15 a, 15 c and 15 e show schematic rear elevational views of a vertebra in different orientations with a computer generated pedicle screw cylinder extending through the pedicle base circumference thereof;

FIGS. 15 b, 15 d and 15 f show schematic side elevational views of the vertebra illustrated in FIGS. 15 a, 15 c and 15 e, respectively;

FIG. 16 shows CT transaxial views through the center of pedicles T1, T2, T4 and T5 demonstrating pedicle morphology, isthmus and determination of pedicle pilot hole entry points correlating with intraoperative AP fluoroscopic images of each respective vertebra;

FIGS. 17 a and 17 b are side elevational views of different embodiments of an adjustable awl of the present invention;

FIG. 18 a is a schematic view of an intraoperative AP fluoroscopic image of individual vertebral and pedicle base circumferences;

FIG. 18 b is a schematic view of computer generated three dimensional images of vertebra with computer placed pedicle cylinders and pedicle base circumferences;

FIG. 18 c is a schematic view of the registered images of FIGS. 18 a and 18 b;

FIG. 19 a is a schematic side elevational view of a dual ring pedicle screw aligning apparatus constructed in accordance with the present invention;

FIG. 19 b is a front elevational view of the apparatus shown in FIG. 19 a;

FIGS. 19 c and 19 d are schematic plan views of a vertebra showing the use of the dual ring pedicle screw aligning apparatus in a percutaneous environment and an open surgical environment, respectively;

FIG. 20 is a front elevational view of a modified dual ring pedicle screw aligning apparatus;

FIGS. 21 a and 21 b are side and front elevational views of the end portion of a first embodiment of a drilling cannula member for the dual ring aligning apparatus shown in FIGS. 19 a and 19 b;

FIGS. 22 a and 22 b are side and front elevational views of the end portion of a second embodiment of a drilling cannula member for the dual ring aligning apparatus shown in FIGS. 19 a and 19 b;

FIG. 23 a is a perspective view of a slotted outer cannula for use with the dual ring aligning apparatus of FIGS. 19 a and 19 b;

FIG. 23 b is a front elevational view of the slotted cannula shown in FIG. 23 a with an aligning ring disposed therein;

FIG. 24 is a schematic view of a hollowed out vertebra showing different pedicle screw trajectories in a centered or ideal trajectory and an extraosseous or extrapedicular trajectory that is offset tangentially from the centered trajectory; and

FIG. 25 is a schematic plan view of a vertebra showing the installation of a pedicle screw in accordance with the method of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The methods of determining pedicle screw size and placement in accordance with the present invention are set forth in more detail hereinafter.

Step 1

A computed tomography scan (CT), magnetic resonance image (MRI), CT capable fluoroscopy or similar two-dimensional imaging study of the spine area of interest may first be obtained. Thin cut sections are preferable to increase accuracy and detail.

Step 2

A dimensionally true three dimensional computer image of the bony spine is made from the CT, MRI or other studies or in any other suitable manner, as shown in FIGS. 1 a and 1 b.

Step 3

The three dimensional individual vertebra as shown in FIG. 2 are then hollowed out by a computer, similar to an eggshell transpedicular vertebral corpectomy, to the specifications desired by the surgeon (i.e., thickness of cortical wall remaining in the vertebral body cortices or pedicle walls). These specifications allow for asymmetric thicknesses, such that, for example, anterior vertebral body cortex could be five millimeters thick, lateral vertebral body wall seven millimeters thick and the pedicle walls only one millimeter thick; or body cortical wall uniformly five millimeters thick and pedicle walls only one millimeter thick or the like. The individual vertebra can be visualized as a structure which has been cored or hollowed out and the resulting remaining vertebral body is “electrified” or highlighted in a suitable manner throughout its walls.

Step 4

A computer then automatically determines the maximum allowable diameter screw to be placed by determining the narrowest diameter or cross sectional area (isthmus) X within any given pedicle based on surgeon pedicle cortical wall diameter preferences, as shown in FIG. 3.

Step 5

A computer then generates an elongated cylinder by starting at the center of the isthmus X as a straight line 10 in FIG. 4 which determines the ideal axis/trajectory and extending in opposite directions, e.g., perpendicular to the plane of the isthmus of the pedicle so that it is positioned concentrically as much as possible within the pedicle without touching the remaining cortex with the center of the isthmus being the fulcrum. This line is allowed to penetrate the dorsal or posterior pedicle cortex so that it can extend beyond the skin of a patient to any desired length. The line terminates inside the vertebral body to within a predetermined distance (e.g. 5 mm) from the predefined anterior inner cortical wall, as selected by the surgeon, so that it does not penetrate the anterior outer cortex and also maximizes screw diameter as described hereinafter.

Step 6

A computer then builds the line 10 concentrically in radial directions as shown schematically in FIG. 5 to its final maximum diameter which will not exceed the narrowest defined pedicle diameter based on surgeon preference pedicle cortical wall thickness. This concentric building ultimately grows into a visible cylinder 12 which stops building when any point on its outer surface comes into “contact” with the highlighted inner cortical wall with the exception of the posterior pedicle cortex. The cylinder formed has at its center the beginning line 10 which may be identified in a different color or pattern than the concentrically built cylinder 12. As described hereinafter, the cylinder 12 may be extended beyond its intersection with the dorsal/posterior cortex to facilitate the placement of screws in accordance with one of the automated methods described hereinafter.

Step 7

The maximal diameter allowed may actually be less than that determined by the narrowest diameter method for those pedicles which have irregular anatomy, as shown in FIG. 6 b, such as curved pedicles (FIG. 7 b) or a similar deformity. This prevents cortical pedicle wall breach.

Step 8

A computer then determines the length of the screw by measuring the length of the cylinder 12 starting at the point D in FIG. 8 adjacent to the predefined anterior inner cortex up to its intersection A with the dorsal/posterior cortex.

Step 9

A computer then provides a data summary table as shown in FIG. 10 a which displays the ideal pedicle screw diameter, length and trajectory (measured as an angle shown in FIGS. 10 b and 10 c with respect to the transverse and sagittal planes with corresponding superior end plate 20 as the reference plane) for each individual vertebra pedicle, and also provides idealized schematic drawings as shown in FIG. 11. Individual vertebra are labeled by having the surgeon identify any specific vertebra as shown in FIG. 9 and then the computer automatically labels the remaining vertebral bodies with the surgeon confirming accurate vertebral body labeling.

Step 10

This tabulated data can then be utilized at this juncture for determination of the viability of using pedicle screws based on maximal pedicle screw diameter and length, as shown in FIG. 12, and also for placement of screws by a surgeon's preferred method. FIG. 12 also provides the individual pedicle base circumference outlines (coronal trajectory) from points A to B and their respective lengths. Actual screw sizes utilized will be based on surgeon selection of commercially available screws. A computer can automatically determine and generate this table once the surgeon provides the available screw size ranges in the selected pedicle screw system and can concomitantly generate an idealized schematic AP (coronal), lateral and transverse drawing with the data as shown in FIG. 13. Furthermore, this system provides surgeon override capabilities to choose a diameter different than the maximum available one on an individual vertebra basis and incorporates these override modifications into the summary data and diagrams.

Step 11—Manual Pedicle Screw Placement

The surgeon may then use the idealized schematic diagram and summary data for pedicle screw placement based on his or her preferred method.

Step 12a—Pedicle Base Circumference Outline Method—Manual Determination

This method takes advantage of radiographic vertebral body anatomical landmarks to match the ideal pedicle screw trajectory in the coronal plane as shown in FIGS. 10 d and 11. Specifically, the radiodensity circular lines seen on standard anteroposterior x-ray or fluoroscopic images correspond to the pedicle base circumferences. The pedicle base circumference B is defined as the cortical junction between the pedicle wall and its transition into the vertebral body. This pedicle base circumference is distinctly different from the pedicle isthmus, but can in some instances be one and the same or super imposable for individual vertebra as seen in FIGS. 14 a–14 e.

For manual utilization of the pedicle base circumference technique, first the ideal trajectory through the pedicle isthmus X is manually determined using the corresponding transverse radiographic image through the pedicle as seen in FIG. 14 b. The pedicle isthmus X is then measured to determine the maximum diameter pedicle screw. The trajectory is utilized for determination for the maximum pedicle screw length. The pedicle base circumference B is then determined by identifying the transition of the pedicle wall into the vertebral body as seen in FIG. 14 b. Finally, the length A–B which corresponds to the starting point on the posterior cortex A up to the intersection with the pedicle base circumference B is measured and utilized for the calibration of a suitable tool such as a variable length awl to be described hereinafter. Point A and point B should be centered with respect to the pedicle base circumference from the top (cephalad) and bottom (caudad) edges of the pedicle base circumference, as shown in FIG. 14 h. The ideal trajectory and pedicle base circumference are then combined to determine where the point A lies with respect to the anteroposterior projection of the pedicle base circumference and where the point B lies within the pedicle base circumference. This pedicle base circumference outline will have a circular configuration to resemble the anteroposterior radiographic image for each individual vertebra.

For manual placement of pedicle screws, a standard fluoroscopy unit can be used to align the superior endplate of the respective vertebral body parallel to the fluoroscopic imaging. Furthermore, the vertebral body is centered when its superior end plate is fluoroscopically visualized by symmetric disc space with the cephalad vertebral body, and when the vertebral body is equidistant from each pedicle by having the pedicle base circumference outlines visually identical on the fluoroscopic AP image. This centering can still occur when there are other than two pedicles per vertebral body, such as congenital anomalies, tumors, fractures, etc. An appropriately calibrated variable length awl or other suitable tool T is then placed onto the posterior cortex of the corresponding vertebral body at pedicle pilot starting hole point A under fluoroscopic imaging and advanced into the pedicle up to point B as seen in FIGS. 14 f and 14 g. This placement is confirmed fluoroscopically and represents two points A and B on a straight line that co-aligns with the ideal trajectory. The tool T can be readjusted to lengthen and further advance into the vertebral body to point D or exchanged for another pedicle probing awl or similar tool. The pedicle is then sounded for intraosseous integrity, the hole tapped and the appropriate diameter and length pedicle screw is placed transpedicularly into the vertebral body.

In accordance with Step 12a, CT transaxial views through center of pedicles T1, T2, T4, T5, as shown in FIG. 16, demonstrate pedicle morphology, isthmus and manual determination of pedicle pilot hole entry points correlating with intraoperative AP fluoroscopic images of each respective vertebra. Pedicle screw length, diameter and trajectory have already been determined. The pedicle base circumference outline is represented as the circle on the bottom right hand corner and is utilized as a consistent intraoperative marker for identifying pedicle pilot hole starting points. For example, the starting points A for both T1 and T2 pedicles are approximately 2 pedicle base circumferences and 1.25 pedicle base circumferences, respectively, as seen on the AP fluoroscopic pedicle base circumference seen intraoperatively (indicated by the dot within the circle). The T4 and T5 pedicle pilot holes are 0.9 and 0.8 pedicle base circumferences, respectively.

Step 12b—Pedicle Base Circumference Outline Method—Semi-Automated

This method is similar to Step 12a except that points A and B and pedicle base circumference outline is determined by a computer after building the computer generated pedicle cylinders concentrically. This data is then summarized as in FIG. 12. This data also includes the sagittal and transverse trajectory angles measured in degrees with respect to the superior endplate and midline vertebral body. A variable length awl or other tool, for example, may then be appropriately adjusted to specific pedicle length A–B summarized in FIG. 12 and screws placed with standard fluoroscopy as described in Step 12a.

Step 12c—Pedicle Base Circumference Outline Method—Fully Automated

This method further expands the present technique to allow for real-time imaging and multiple vertebral body visualization for pedicle screw placement. The data generated is the same as in FIG. 12 except that the pedicle base circumference outlines and identified points A and B are dynamic and do not require the vertebral body to be centered or have the superior end plate parallel to the fluoroscopic imaging as in Steps 12 a and 12 b. The fluoroscopically imaged vertebral bodies are registered by any suitable method to the computer generated vertebral bodies with their corresponding computer generated pedicle cylinders. The points A and B are then visualized as seen in FIGS. 15 a, 15 c and 15 e and displayed as in FIG. 12 as updated real-time imaging. A variable length awl or other tool, for example, may then be adjusted to appropriate length for starting at point A and advancing to point B for each respective vertebra. It is noted that any suitable tool, such as a nonadjustable awl, may be used other than an adjustable awl in accordance with the methods of the present invention.

Step 13—Adjustable Variable Length Awl

The distance from point A to point B (FIG. 14 b), posterior cortex to intersection with pedicle base circumference, is utilized to set the length A–B on an adjustable variable length awl constructed in accordance with the present invention. This awl is used to establish the pedicle pilot hole under fluoroscopic imaging. The pedicle pilot hole forms the first step in a series of steps for actual placement of a pedicle screw. The pilot pedicle hole is started at the identified starting point A indicated by the computer generated pedicle cylinders and advanced to point B once it is fully seated.

Referring to FIG. 17 a, the awl 100 comprises a cannulated radiolucent housing 102 with an open end which movably supports a radio opaque awl member 104. The awl 100 is fully adjustable for variable lengths to correspond to length A–B and also configured to prevent advancement of the awl further than any distance A–B as seen in FIG. 14 b and other drawing figures.

A surgeon can adjust the awl to any length from point A to point D, the final screw length, in FIG. 14 b once the distance A–B has been radiographically confirmed. The awl 100 preferably is of such construction to tolerate being struck with a mallet or the like and is of a diameter narrow enough to be used percutaneously. To facilitate visualization of depth, the awl member 104 may be marked in color or otherwise at fixed increments 106, such as 5 mm or 10 mm.

The awl 100 may be provided with a solid head 108 at its outer end for striking, and with any suitable locking mechanism 110, such as a locking screw mechanism, for locking the awl member 104 in a desired position relative to the housing 102. The awl may also be provided with a window 112 or other indicia for indicating the position or length of the awl member 104. FIGS. 14 f and 14 g show an awl being advanced into the pedicle to create the screw pilot hole.

FIG. 17 b illustrates a modified adjustable awl 300 which comprises a cannulated or hollow awl member 304 and a head 308 with a central aperture 309 such that a guide wire 311 may extend through the head and through the awl member 304 to its inner end. After the pilot hole is formed by the awl 300, the guide wire 311 may be left in position in the pilot hole to facilitate its location during subsequent steps leading to the installation of the pedicle screw.

Step 14—Dual Ring Co-Aligned Technique

For automated intraoperative pedicle screw placement the dimensionally true three dimensional spine model with computer automated placed pedicle screw cylinders defining length, diameter and trajectory is utilized. In addition, the pedicle base circumference outline data is utilized to facilitate registration with intraoperative imaging.

Real-time intraoperative fluoroscopy is utilized for accurate registration with the three dimensional model on an individual vertebral basis. This fluoroscopic vertebral body image is centered on the monitor and identified by the surgeon for its specific vertebral body identifier (i.e., T2, T3, etc.). The corresponding dimensionally true three dimensional individual vertebral model is registered to this fluoroscopic image as shown schematically in FIGS. 18 a, 18 b and 18 c. This can be performed on either surgically exposed spines or percutaneously.

The registration occurs by utilizing internal vertebral body bony landmarks. These landmarks are the pedicle base circumferences seen on the fluoroscopic image which arise from the confluence of the pedicle cortical walls joining the vertebral body. As hereinbefore explained, these pedicle base circumferences form either circular or elliptical shapes which can change configuration and square area based on vertebral body rotation with respect to fluoroscopic imaging.

The intraoperative fluoroscopic and computer spine generated pedicle base circumference outlines are then registered. Precision of registration is obtained by assuring outlines are superimposed and measured square areas are equal and by assuring distance between pedicles is equal. This method of registration eliminates the requirement of having a radiographic marker anchored to the patient's skeleton, which is particularly disadvantageous for percutaneous applications. This method also allows for free independent movement of one vertebral body to another demonstrating compliance of this computer generated model, which is particularly useful in spines with instability. The surgeon confirms adequacy of registration of pedicle base circumferences intraoperatively in order to proceed with screw placement. This method allows for magnification or reduction of the computer generated model to match the intraoperative fluoroscopic image.

The full three dimensional image which now includes the computer generated pedicle base circumference and pedicle cylinder is then projected superimposed on the intraoperative fluoroscopic image. As shown in FIGS. 19 a and 19 b, the computer pedicle screw cylinder 200 is then projected out of the patient's body through the posterior cortex and is intercepted by and extends through two separate and collinear rings 202, 204. The rings are mounted on a suitable support frame 206 anchored to the patient's bed or other support (not shown) and are sized to allow interception of the computer cylinder image and to allow placement of drilling cannulas. The first ring 202 intercepts the computer pedicle screw cylinder near the posterior cortical region 208 or just outside the body and the second ring 204 intercepts the computer pedicle screw cylinder at any desired distance from the first ring 202. The longer the distance between the two rings the greater the accuracy of screw placement. The interception of the computer pedicle cylinder by the rings 202, 204 is displayed on a computer monitor which demonstrates movement of the rings with respect to the computer pedicle cylinder 200.

FIGS. 19 c and 19 d illustrate the computer generated cylinder 200 and line 210 projecting out from a vertebral body VB through the rings 202, 204 in a surgically open environment and a percutaneous environment, respectively.

Interception of the pedicle cylinders occurs on two levels. The computer pedicle cylinders 200 are comprised of a central line 210 with surrounding cylinder. First, the rings 202, 204 need to be centered to both the central line 210 and pedicle cylinder 200. Second, the rings are registered to the vertebral body so their movements can be followed on the computer monitor such as through LED devices. Third, the rings are constructed to have inner diameters to allow matching of diameters corresponding to the diameter of the computer generated pedicle cylinders 200. A variety of removable rings with different diameters may be provided to allow utilization of any pedicle screw system desired by the surgeon. Fourth, the rings can be constructed to be adjustable in any suitable manner to allow for variable diameters to allow matching of diameters corresponding to the diameter of the computer generated pedicle cylinder as shown in FIG. 20 where the ring 202 is formed of movably connected sections 212 that can be rotated to vary the ring diameter. Registration of the rings with the computer pedicle cylinder is identified and confirmed on the computer monitor.

The two co-aligned rings 202, 204 now form the conduit in which to place a drilling cannula 214 (FIGS. 21 a and 21 b) which is also secured to the frame 206 anchored to the patient's bed or other support. Inside this drilling cannula 214 is placed a solid cannula member 216 (FIGS. 21 a and 21 b), or a specialized inner cannula member 218 (FIGS. 22 a and 22 b) may be used which has multiple narrow movable and longitudinal metal parallel pins 220 therein and is open centrally to allow for drill placement. The multiple pins 220 allow for the inner cannula member 218 to rest evenly on an uneven surface. This feature provides additional stability at the posterior cortex drilling area to avoid toggling of the drill bit. Additionally, the specialized inner cannula member 218 allows for retraction of the multiple parallel pins to allow fluoroscopic visualization of drilling within the pedicle. Either method may be used by the surgeon.

The pedicle is then drilled to its desired precalibrated depth and not exceeding the predetermined pedicle screw length. The pedicle is then sounded with a pedicle probe to assure osseous integrity.

For actual screw placement, a specialized slotted outer cannula 230 (FIGS. 23 a and 23 b) is placed collinear and onto the co-aligned two rings 202, 204 which are removably mounted on the support frame. This specialized cannula 230 is also secured to the support frame or other anchoring device. The rings are then removed by rotating them approximately ninety degrees (not shown) and withdrawing them from the cannula 230. The slotted cannula's adjustable inner diameter is sufficient to accommodate any pedicle screw diameter threaded and variable head size. The appropriate pedicle screw (not shown) is placed into its holding screwdriver, placed into the slotted cannula and then placed into its respective pedicle.

For the modified adjustable coaligned rings shown in FIG. 20, the slotted cannula 230 in FIG. 23 a can be used or alternatively, the rings 202, 204 may be left in position and adjusted to a fully open position to accommodate a screwdriver placed into and through the rings.

Step 15

There are currently commercially available software packages capable of producing intraoperative registration of intraoperative fluoroscopy images with preoperative three dimensional images of a patient's spine. Such capabilities can be integrated with the methods of the present invention to provide summary numerical data and idealized illustrated diagrams. The latter information will provide the basis for actual screw placement as described herein or by a surgeon's preferred choice.

Step 16

For surgeons who prefer to place screws extraosseous or extrapedicular because the pedicle screw sizes are too small to accommodate available screw sizes, planned eccentric screw placement in large pedicles or planned straight ahead versus anatomic axis screw placement, the present invention allows this capability. It accomplishes this by obtaining all idealized data and then allows a surgeon to offset the pedicle pilot hole entry placement at any desired distance tangentially from the ideal trajectory, i.e., the anterior screw position is the pivot point D from which a computer pedicle cylinder 12 is generated, as shown in FIG. 24. Furthermore, these changes will be automatically recorded to generate new idealized AP, lateral and transaxial schematic diagrams incorporating these changes. This data can be used for placement of screws by either the pedicle base circumference method, an automated aligning method or a commercially available CT/fluoroscopy registration method. For the pedicle base circumference method, new pilot hole lengths are determined to allow for proper length of an awl or other tool.

As an illustrative embodiment, FIG. 25 shows schematically the installation of a pedicle screw 20 by a screwdriver 22 or the like through the center of the isthmus X in accordance with the present invention.

While many of the steps of the methods of the present invention are described as being computer-generated, it is noted that any suitable apparatus or device may be utilized to accomplish these steps in accordance with the methods of the present invention.

The invention has been described in connection with what is presently considered to be the most practical and preferred embodiments. It is to be understood that the invention is not to be limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. 

1. A method of determining the size and trajectory of screws in pedicles during surgery in a selected spinal area, comprising: using a computer to generate a dimensionally true three-dimensional image of the bony spine in the selected spinal area; using a computer to hollow out the vertebra in the three-dimensional image with cortical wall thicknesses selected by a surgeon performing the surgery such that the individual vertebra can be visualized as a structure that has been hollowed out with the remaining vertebral body being highlighted throughout its walls; using a computer to determine the narrowest diameter or isthmus within each pedicle based on the surgeon's selected pedicle cortical wall thickness; using a computer to generate a straight line starting at the center of the isthmus and extending in opposite directions so that it is positioned concentrically within the pedicle without touching the highlighted walls thereof, the line terminating inside the vertebral body a predetermined distance from the anterior inner cortical wall and extending outwardly in the opposite direction to penetrate the posterior pedicle cortex; using a computer to expand the line concentrically to a diameter that does not exceed the isthmus diameter based on the surgeon's selected pedicle cortical wall thickness, the line being expanded into a cylinder that stops growing when any portion thereof contacts the highlighted inner cortical wall of the vertebral body with the exception of the posterior pedicle cortex; using a computer to determine the length of the cylinder from its innermost end spaced from the anterior inner cortical wall to the outer end thereof that contacts the posterior pedicle cortex, and using a computer to calculate a pedicle screw size and trajectory based on a size and trajectory of the cylinder generated for each pedicle.
 2. The method of claim 1 wherein two-dimensional images of the selected spinal area are first generated, and then the computer is used to generate the three-dimensional image.
 3. The method of claim 2 wherein the two-dimensional images are created by computed tomography scanning (CT), magnetic resonance imaging (MRI), fluoroscopy or similar imaging studies.
 4. The method of claim 2 wherein the two-dimensional images are thin cut sections for greater accuracy and detail.
 5. The method of claim 1 wherein the center of the isthmus is the fulcrum point for the generated line.
 6. The method of claim 1 wherein a computer generates a data summary table which displays the ideal pedicle screw length, diameter and trajectory for each vertebra.
 7. The method of claim 6 wherein the trajectory is measured as an angle with respect to the transverse and sagittal planes with corresponding superior end plate as a reference plane for each vertebra pedicle.
 8. The method of claim 6 wherein a computer generates a schematic drawing displaying the idealized pedicle screw length, diameter and trajectory for each vertebra.
 9. The method of claim 6 wherein a computer is used to determine screw sizes based on screws that are available for use.
 10. The method of claim 1 further comprising the identification of the pedicle base circumference at the junction between the pedicle base with its vertebral body to enable a fluoroscopic AP image scan intraoperatively to correlate with the three-dimensional image generated by computer for determining pedicle screw placement and measurements based on an the outline of the pedicle base circumference.
 11. The method of claim 10 further comprising projecting the outline of the pedicle base circumference outwardly to the posterior pedicle cortex in accordance with the predetermined screw trajectory to identify a starting point for the screw on the posterior cortex.
 12. The method of claim 10 wherein a circle is created to correspond with the pedicle base circumference in the intraoperative fluoroscopic image and a pedicle screw pilot hole is determined by viewing where it lies with respect to the circle and the posterior cortex.
 13. The method of claim 12 wherein real time intraoperative fluoroscopy is used for registration with the three-dimensional image for each vertebra.
 14. The method of claim 12 wherein the pedicle screw pilot hole is offset for eccentric screw placement by rotation of a cylinder trajectory tangentially about an innermost end of the cylinder adjacent to the anterior inner cortical wall.
 15. The method of claim 1 wherein a portion of the generated line and cylinder extending beyond the posterior pedicle cortex is used to facilitate automated intraoperative pedicle screw placement.
 16. The method of claim 15 wherein the generated line and cylinder extending beyond the posterior pedicle cortex are intercepted by and extend through a pair of spaced collinear rings that are mounted on a frame supported by a patient's bed or other support, one of said rings being located near the posterior pedicle cortex and the other of said rings being spaced outwardly from the one ring, said rings having an inner diameter that is approximately the same as the diameter of the generated cylinder extending therethrough, said rings providing a guide for a drilling cannula to form a pilot screw hole in the pedicle corresponding to the generated cylinder and for the insertion of a pedicle screw.
 17. The method of claim 16 wherein said rings are movably mounted on said frame.
 18. The method of claim 16 wherein said rings are removably mounted on said frame.
 19. The method of claim 16 wherein each of said rings is adjustable to vary the inner diameter thereof.
 20. The method of claim 16 wherein a drilling cannula is inserted through said rings and is provided with a central longitudinal opening for a movable support of a drilling member.
 21. The method of claim 20 wherein said drilling cannula is mounted on a patient's bed or other support and comprises an inner cannula member for movable support of the drilling member.
 22. The method of claim 21 wherein said inner cannula member comprises spaced, parallel, longitudinally extending and movable pins which define the central opening for the drilling member, said pins being extendable beyond the inner end of the drilling cannula to provide stable support thereof on uneven surfaces.
 23. The method of claim 20 wherein said rings are removably mounted on said frame and, after the drilling of the pilot screw hole in the pedicle and removal of the drilling cannula, a second cannula having a longitudinal slot therethrough is mounted on the exterior of the said rings and is secured to said frame so that the longitudinal axis thereof corresponds to the longitudinal axis of the generated cylinder extending through said rings, said second cannula serving as a guide for the insertion of a screw into the pedicle after said rings are removed from said second cannula.
 24. A method of determining the size and trajectory of screws in pedicles during surgery in a selected spinal area, comprising: generating a dimensionally true three-dimensional image of the bony spine in the selected spinal area; hollowing out the vertebra in the three-dimensional image with cortical wall thicknesses selected by a surgeon performing the surgery such that the individual vertebra can be visualized as a structure that has been hollowed out with the remaining vertebral body being highlighted throughout its walls; determining the narrowest diameter or isthmus within each pedicle based on a surgeon's selected pedicle cortical wall thickness; generating a straight line starting at the center of the isthmus and extending in opposite directions so that it is positional concentrically within the pedicle without touching the highlighted walls thereof, the line terminating inside the vertebral body a predetermined distance from the anterior inner cortical wall and extending outwardly in the opposite direction to penetrate the posterior pedicle cortex; expanding the line concentrically to a diameter that does not exceed the isthmus diameter based on the surgeon's selected pedicle cortical wall thickness, the line being expanded into a cylinder that stops growing when any portion thereof contacts the highlighted inner cortical wall of the vertebral body with the exception of the posterior pedicle cortex; determining the length of the cylinder from its innermost end spaced from the anterior inner cortical wall to the outer end thereof that contacts the posterior pedicle cortex; and calculating a pedicle screw size and trajectory based on a size and trajectory of the cylinder generated for each pedicle. 